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  <span id="caption">
      <a href="https://en.wikipedia.org/wiki/PID_controller">PID controller</a>.
      CLICK TO FLY. Ball is physically simulated, orange lines represent your thrusters.
  </span>
  <span id="control">
      <button id="start">start</button>
      <button id="stop">stop</button>
      <label for="kp">Kp</label>
      <input type="text" id="kp" size="8">
      <label for="ki">Ki</label>
      <input type="text" id="ki" size="8">
      <label for="kd">Kd</label>
      <input type="text" id="kd" size="8">
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